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Lifelike animation of object manipulation requires dynamic interaction between animated characters, objects, and their environment. These interactions can be animated automatically with physically based simulations but proper controls are needed to animate characters that move realistically and that accomplish tasks in spite of unexpected disturbances. This paper describes an efficient control algorithm that generates realistic animations by incorporating motion data into task execution. The end result is a versatile system for interactive animation of dynamic manipulation tasks such as lifting, catching, and throwing.